Modern Robotics Code Library, Version 1.1.1

We thank all contributors for making our library better!

Updates in Version 1.1.1

(February 2023)

Overall

1. Added more references to projects built on ours.

MATLAB

1. Fixed the issue for corner cases in function ProjectToSO3.
2. Some other small improvements.

Python

1. Added a dependency requirement and an example in README.
2. Fixed the data type issue due to the type name deprecations starting from NumPy 1.20.
3. Fixed the issue for corner cases in function ProjectToSO3.
4. Fixed a typo in the description of function TestIfSE3.

Mathematica

NA

Modern Robotics Code Library, Version 1.1.0

Updates in Version 1.1.0

(January 2019)

Overall

1. Improve the algorithm for functions MatrixLog3 and MatrixLog6.

MATLAB

1. Change the source code folder name from "Matlab" to "MATLAB".

Python

1. Fixed the major formatting and misaligned indentations.

Mathematica

NA

Modern Robotics Code Library, Version 1.0.0

Updates in Version 1.0.0

(September 2018)

Overall

1. Mathematica and Python code were put into package formats.

2. The "MRlib.{tex,pdf}" user manual was modified.

3. A "README.md" file describing installation and usage was added for each programming language.

4. Six functions were added, measuring the distance of a matrix to SO(3) and SE(3), projecting matrices to SO(3) and SE(3), and testing if matrices are in SO(3) and SE(3).

MATLAB

1. The code folder name was changed to "mr", which can be used as a library.

2. Users can see a function's description and example usage using help FunctionName

Python

1. The code was rearranged to fit the package format.

2. Users can see a function's description and example usage using help(mr.FunctionName) (assuming the code package was imported as "mr").

3. All functions now use numpy.array for matrix and vector inputs and outputs.

4. matplotlib was made an optional dependency.

5. Formerly, some functions incorrectly used integer math if all the inputs were integers. This has been fixed.

Mathematica

1. The code was changed from a notebook (.nb) to a package (.m).

2. Functions were rewritten to fit the syntax of a Mathematica package.

3. The code and its usage were separated as required by packaging.

4. Users can see a function's description and example usage using ?FunctionName.